#include "WPILib.h"

class Robot2489 : public SimpleRobot {
	
	RobotDrive *myRobot;
	Joystick *leftStick;
	Joystick *rightStick;
	Joystick *manipStick;
		
	DriverStationLCD *screen;
	DriverStation *ds; 
	DriverStationEnhancedIO *dseio;
	
	// Jaguar motors
	Jaguar *rightMotor;
	Jaguar *leftMotor;
	Jaguar *manipulatorJag;
	DigitalInput *lowOutSwitch;
	DigitalInput *lowInSwitch;
	DigitalInput *feederSwitch;
	DigitalInput *midOutSwitch;
	DigitalInput *midInSwitch;
	//Manipulator limit switch booleans
	bool onLowOutSwitch;
	bool onLowInSwitch;
	bool onMidOutSwitch;
	bool onMidInSwitch;
	bool onFeederSwitch;
	//Manipulator joystick button booleans
	bool lowOutButton;
	bool lowInButton;
	bool feederButton;
	bool midOutButton;
	bool midInButton;
	//Variables to control the manip
	int manipDirection;//determines if arm is going up or down to reach desired position
	int manipActualPeg;//Position of the arm according to the button
	int manipDesiredPeg;//Wanted position of the arm according to the buttons.
	//float manipvalue;//measure value of joystick's y axis.
	
	// Light sensors
	DigitalInput *manipLightSensor;
	
	
public:
	
	Robot2489();
	void Autonomous();
	void OperatorControl();
	void ReadIOModule();
	void Manipulator();
	void InitLimitSwitch();
	//void ManipUp();
	//void ManipDown();
	//void ManipStop();
};

